CN2359833Y - Low-voltage permanent-magnet AC. servomechanism installation - Google Patents

Low-voltage permanent-magnet AC. servomechanism installation Download PDF

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Publication number
CN2359833Y
CN2359833Y CN 98205002 CN98205002U CN2359833Y CN 2359833 Y CN2359833 Y CN 2359833Y CN 98205002 CN98205002 CN 98205002 CN 98205002 U CN98205002 U CN 98205002U CN 2359833 Y CN2359833 Y CN 2359833Y
Authority
CN
China
Prior art keywords
current
motor
regulator
generator
sleeve
Prior art date
Application number
CN 98205002
Other languages
Chinese (zh)
Inventor
张进
张建迪
Original Assignee
北京新兴东方自动控制系统有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京新兴东方自动控制系统有限公司 filed Critical 北京新兴东方自动控制系统有限公司
Priority to CN 98205002 priority Critical patent/CN2359833Y/en
Application granted granted Critical
Publication of CN2359833Y publication Critical patent/CN2359833Y/en

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Abstract

The utility model relates to a low voltage permanent magnet alternate current servo device which is characterized in that the utility model comprises a control console 1, a bidirectional stabilizer 2, an electronic tube amplifier 3, a speed regulator 4, a phase generator 5, a current regulator 6, a comparator 7, a triangle generator 8, an SPWM generator 9, a power amplification circuit 10, a current phase inverter 11, a motor 12 and a photoelectric encoder 13. The utility model is mainly suitable for occasions which have higher requirements for speed and positional control for civil use, such as vehicular low voltage environment, numerically controlled machines, industrial robots, etc.

Description

Low pressure permanent magnetic Ac servo device
The utility model relates to automatic control Electric Traction field, relates in particular to a kind of low pressure permanent magnetic Ac servo device.
At present, vehicle-mounted dragging system mainly adopts rotary amplifier, hydraulic pressure and high-voltage alternating servo techniques.
Rotary amplifier is made up of drive motor and enlarger, is an electrical power amplifier, and it amplifies control signal, and drive motors drives actuator's work.
Hydraulic system is mainly by hydraulic intensifier, and power cylinder and oil feeding reservoir three parts are formed.Domesticly generally use above-mentioned two kinds of technology.
And that the high-voltage alternating servo techniques is used abroad is more.Such as: Siemens, day this law Na Ke company etc. all comparative maturity ground use the high-voltage alternating servo techniques, for the use of low pressure permanent magnetic Ac servo technology, no matter in the civilian or vehicle-mounted blank that all still belongs to.
The utility model has mainly solved under the low-tension supply electric power thus supplied of many specific occasions (vehicle-mounted), the problem that actuator's speed and position control accuracy are had relatively high expectations.For example: the occasion of speed and Position Control being had relatively high expectations at Digit Control Machine Tool, industrial robot, this technology has solved the enlarger of present application well and the noise under the hydraulic driving mode is big, speed is slow, low precision, difficult in maintenance, weakness such as reliability is low.The purpose of this utility model will replace enlarger and hydraulic system exactly, and a kind of low pressure permanent magnetic Ac servo device is provided, and realizes electric drive.
Concrete solution of the present utility model is: a kind of low pressure permanent magnetic Ac servo device, it is characterized in that: it comprises: console 1, two-way stable device 2, crystal amplifier 3, speed regulator 4, phase generator 5, current regulator 6, comparator 7, triangular-wave generator 8, SPWM maker 9, power amplification circuit 10, current phase converter 11, motor 12, photoelectric encoder 13, wherein, console 1, two-way stable device 2, crystal amplifier 3 connect successively, and console 1, discharge-tube amplifier 3 link to each other with speed regulator 4 respectively; Speed regulator 4, phase generator 5, current regulator 6 connect successively; Current regulator 6, triangular-wave generator 8 are connected with comparator 7 respectively; Comparator 7, SPWM maker 9, power amplification circuit 10, motor 12, photoelectric encoder 13 connect successively; Current phase converter 11 two ends are connected between phase generator 5 and the current regulator 6, and between power amplification circuit 10 and the motor 12; The other end of photoelectric encoder 13 is connected to phase generator 5, and between crystal amplifier 3 and the speed regulator 4; Motor 12 comprises: rotor 14, stator 15, feedback element 16, its rotor 14 is made up of axle 17, sleeve 18, front and back end plate 19,20, SmCo magnetic pole 21, wherein: front end-plate 19 leans against on the shaft shoulder, sleeve 18 is enclosed within on the axle 17, SmCo magnetic pole 21 is arranged on the sleeve 18, end plate 20 leans against the other end of sleeve 18 and SmCo magnetic pole 21, and front and back end plate 19,20 is fixed on sleeve 18 and SmCo magnetic pole 21 on the axle 17.
Advantage of the present utility model or good effect are:
1. directly utilize power supply on the car, need not add transformer.
2. seriation changes interface applicable to Digit Control Machine Tool, and industrial robot etc. are civilian to speed and position
Put the occasion that control is had relatively high expectations.
3. reliability height, failure free time reaches 2500 hours continuously.The utility model control section is provided with
Duplicate protection, i.e. high power intelligent module (IPM) self-shield, the control circuit self-shield,
To short circuit, open circuit, overvoltage, under-voltage, overcurrent, stall, overheated, power device is unusual, eight
Plant fault and carry out monitoring and protecting.Motor is the brushless, permanently structure, and is overload-resistant, strong shock resistance.
Adapt under the vehicle-mounted adverse circumstances and work.
4. more in light weight than rotary amplifier, volume is little, noise is little and efficient improves very big (from 50%
Bring up to 90%)
5. fast than hydraulic system reaction, safety, maintenance, repair is convenient, solved the hydraulic system leakage of oil,
Problems such as repairing.
Below in conjunction with accompanying drawing the utility model is described in further detail.
Fig. 1 represents block diagram of the present utility model, is AC servo unit in the frame of broken lines.
Fig. 2 represents the cutaway view of the utility model low pressure permanent magnetic Ac servo motor.
Fig. 3 represents the block diagram of the utility model speed regulator, wherein: Vvcmd: speed instruction voltage; Vf: speed feedback voltage; Error voltage after ER:Vvcmd, Vf PI regulate.
Fig. 4 represents the block diagram of the sinusoidal wave command signal ER of the utility model generative circuit, ui, vi, wi: three-phase sine-wave command voltage.
Fig. 5 represents the block diagram of the utility model current feedback signal, and Fu, Fv, Fw are the three-phase current feedback signal.
Fig. 6 represents the block diagram of the utility model electric current loop PI regulating circuit, and PWU, PWV, PWW are the three-phase modulations signal.
Fig. 7 represents the utility model triangle wave generating circuit, and TRW is a triangular signal.
Fig. 8 represents the block diagram of the utility model SPWM maker, wherein: PWA, PWB ... PWF is a three-phase inversion power device switching signal.
Fig. 9 represents the utility model major loop block diagram.
Operation principle of the present utility model:
When console 1 send signal Vc1 and feedback speed signal Fe synthetic through speed regulator 4 carry out sending into after PI regulates phase generator 5 with the rotor phase detection signal synthetic after, generation three-phase current command signal ui, vi, wi and three-phase current feedback signal Fu, Fv, Fw enter current regulator 6 after synthesizing, in comparator 7, in 9, generate the SPWM signal then and drive the circuit 10 that high power device IPM is formed, produce 12 rotations of power signal drive motor with triangular wave 8 modulation backs.Photoelectric encoder 13 is motor speed, rotor position detection parts, is connected with motor is coaxial.
When connecting stabilizer, the signal of console 1 then needs to drive earlier the electromagnet generation rate signal in the stabilizer 2, generates Vc2 and producing a speed error signal Er with PI adjusting back, the synthetic back of feedback speed signal Fe after crystal amplifier 3 amplifies shaping.
A kind of low pressure permanent magnetic Ac servo device, it is characterized in that: it comprises: console 1, two-way stable device 2, discharge-tube amplifier 3, speed regulator 4, phase generator 5, current regulator 6, comparator 7, triangular-wave generator 8, SPWM maker 9, power amplification circuit 10, current phase converter 11, motor 12, photoelectric encoder 13, wherein, console 1, two-way stable device 2, discharge-tube amplifier 3 connect successively, and console 1, discharge-tube amplifier 3 link to each other with speed regulator 4 respectively; Speed regulator 4, phase generator 5, current regulator 6 connect successively; Current regulator 6, triangular-wave generator 8 are connected with comparator 7 respectively; Comparator 7, SPWM maker 9, power amplification circuit 10, motor 12, photoelectric encoder 13 connect successively; Current phase converter 11 two ends are connected between phase generator 5 and the current regulator 6, and between power amplification circuit 10 and the motor 12; The other end of photoelectric encoder 13 is connected to phase generator 5, and between discharge-tube amplifier 3 and the speed regulator 4; Motor 12 comprises: rotor 14, stator 15, feedback element 16, it is characterized in that: rotor 14 is made up of axle 17, sleeve 18, front and back end plate 19,20, SmCo magnetic pole 21, wherein: front end-plate 19 leans against on the shaft shoulder, sleeve 18 is enclosed within on the axle 17, SmCo magnetic pole 21 is arranged on the sleeve 18, end plate 20 leans against the other end of sleeve 18 and SmCo magnetic pole 21, and front and back end plate 19,20 is fixed on sleeve 18 and SmCo magnetic pole 21 on the axle 17.
Performance parameter of the present utility model:
Nominal torque: 12 Ns of rice
Rated current: 97A
Maximum speed: 3000 rev/mins
Minimum speed: 1 rev/min
Operating voltage: DC24V
Main characteristics of the present utility model:
1. take unique control mode, the switch frequency is: the Sine Wave Pulse Width Modulation of 15KHZ
(SPWM) control mode has improved steady property and the precision of system's operation, response characteristic height.
2. high reliability: be provided with triple protection in the system, namely main circuit is from protection, the self-insurance of control circuit
Protect, high power module (IPM) protects certainly. Be provided with eight kinds of guard modes: namely: overcurrent, mistake
Pressure, short circuit, under-voltage, overheated, open circuit, exceed the speed limit, transship. In addition, the control unit is strong anti-
The strong overload capacity of power surges and motor has all embodied the high reliability of system.
3. adopted totally-enclosedly, certainly cooled off the synchronous motor of brushless ac, both made under rugged environment and used
Also need not safeguard.
4. high performance price ratio
System index:
1. control unit
Rated current: 97A
Operating voltage: DV24V
Weight: 15Kg
Environment temperature :-40 ℃~50 ℃
2. the parameter of electric machine
Maximum speed: 3000r/min
Nominal torque: 12N.m
Rotor inertia: 0.0048N.M.S 2
Rated current: 97A
Power: 1.5KW
Armature resistance: 0.13 Ω
Mechanical time constant: 0.010S
Thermal time constant: 15min
Static friction torque: 0.05N.M
Maximum permissible current: 150A
Breakdown torque: 27N.m
Peak acceleration: 21600 °/S 2
Maximum winding temperature rise: 125 ℃
Weight: 20kg

Claims (1)

1. low pressure permanent magnetic Ac servo device, it is characterized in that: it comprises: console 1, two-way stable device 2, discharge-tube amplifier 3, speed regulator 4, phase generator 5, current regulator 6, comparator 7, triangular-wave generator 8, SPWM maker 9, power amplification circuit 10, current phase converter 11, motor 12, photoelectric encoder 13, wherein, console 1, two-way stable device 2, discharge-tube amplifier 3 connect successively, and console 1, discharge-tube amplifier 3 link to each other with speed regulator 4 respectively; Speed regulator 4, phase generator 5, current regulator 6 connect successively; Current regulator 6, triangular-wave generator 8 are connected with comparator 7 respectively; Comparator 7, SPWM maker 9, power amplification circuit 10, motor 12, photoelectric encoder 13 connect successively; Current phase converter 11 two ends are connected between phase generator 5 and the current regulator 6, and between power amplification circuit 10 and the motor 12; The other end of photoelectric encoder 13 is connected to phase generator 5, and between discharge-tube amplifier 3 and the speed regulator 4; Motor 12 comprises: rotor 14, stator 15, feedback element 16, rotor 14 is made up of axle 17, sleeve 18, front and back end plate 19,20, SmCo magnetic pole 21, wherein: front end-plate 19 leans against on the shaft shoulder, sleeve 18 is enclosed within on the axle 17, SmCo magnetic pole 21 is arranged on the sleeve 18, end plate 20 leans against the other end of sleeve 18 and SmCo magnetic pole 21, and front and back end plate 19,20 is fixed on sleeve 18 and SmCo magnetic pole 21 on the axle 17.
CN 98205002 1998-05-28 1998-05-28 Low-voltage permanent-magnet AC. servomechanism installation CN2359833Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 98205002 CN2359833Y (en) 1998-05-28 1998-05-28 Low-voltage permanent-magnet AC. servomechanism installation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 98205002 CN2359833Y (en) 1998-05-28 1998-05-28 Low-voltage permanent-magnet AC. servomechanism installation

Publications (1)

Publication Number Publication Date
CN2359833Y true CN2359833Y (en) 2000-01-19

Family

ID=33961491

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 98205002 CN2359833Y (en) 1998-05-28 1998-05-28 Low-voltage permanent-magnet AC. servomechanism installation

Country Status (1)

Country Link
CN (1) CN2359833Y (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101589350B (en) * 2006-12-07 2012-08-22 传感电子公司 Method and system for low speed control of a video surveillance system motor
CN102662332A (en) * 2012-05-23 2012-09-12 西安交通大学 Disturbing load simulation device and method for servo feeding system of numerical control machine tool
CN103457536A (en) * 2013-09-12 2013-12-18 南京欧陆电气传动有限公司 Alternating current servo driver based on current detection and position feedback structure

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101589350B (en) * 2006-12-07 2012-08-22 传感电子公司 Method and system for low speed control of a video surveillance system motor
CN102662332A (en) * 2012-05-23 2012-09-12 西安交通大学 Disturbing load simulation device and method for servo feeding system of numerical control machine tool
CN103457536A (en) * 2013-09-12 2013-12-18 南京欧陆电气传动有限公司 Alternating current servo driver based on current detection and position feedback structure
CN103457536B (en) * 2013-09-12 2014-10-15 南京欧陆电气传动有限公司 Alternating current servo driver based on current detection and position feedback structure

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CF01 Termination of patent right due to non-payment of annual fee
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